/*
 * motor_parameter.h
 * 舵机基本的限制和转换参数
 * 日期: 2020.8.13
 * 作者: 
 */

#ifndef _CRN_H
#define _CRN_H

#include "INST.h"


//位置转换系数：弧度-输入
#define	SMSPOSTRANS 651.8986469
//速度转换系数：弧度/秒-输入
#define	SMSVELTRANS 652.2743569
//加速度转换系数：弧度/秒^2-输入
#define	SMSACCTRANS 6.519032827

const double pi = 3.1415936;
const u8 IDN = 6;
const s8 Dirction[IDN] = {-1, 1, -1, 1, -1, 1};
const s16 BiasPos[IDN] = {2048, 2048, 4096, 2048, 2048,2048};
const u16 thresholdvel[IDN] = {500, 500, 500, 500, 500, 500};
const s16 ThresholdPosUp[IDN] = {4046, 3300, 4709, 4046, 4046, 4096};
const s16 ThresholdPosDown[IDN] = {50, 1024, 3416, 50, 2024, 0};

#endif